Robot hand module

ABSTRACT

A robot hand module includes a finger phalangeal part movably coupled to a palm part, a finger cable part having a first side connected to the finger phalangeal part, and a finger driving part connected to a second side of the finger cable part for operating the finger phalangeal part by extending the finger cable part to the outside or retracting the finger cable part, wherein the finger phalangeal part includes finger link pails including a plurality of link members and a finger link driving part for transmitting power to the finger link parts in a rectilinear direction, and wherein when the finger link pails receive the power from the finger link driving part in the rectilinear direction, some of the link members rotate relative to remaining ones of the link members, such that the finger phalangeal part rotates relative to the palm part.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of Korean Patent Application No.10-2021-0102197, filed on Aug. 3, 2021, which application is herebyincorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to a robot hand module.

BACKGROUND

In the case of a humanoid robot having a structure shaped similarly to aperson among robots, it is essential to develop a structure capable ofimplementing a motion identical to a human motion. In particular, thereis a need to develop a structure capable of implementing a motionidentical to a motion of a human joint to manufacture the humanoidrobot. Examples of components provided in the humanoid robot toimplement the human motion may include a robot hand module capable ofmimicking a motion of a joint of a human hand.

However, in the case of the robot hand module in the related art, thecomponents are mainly configured as hard links to ensure rigidity of therobot hand module, which makes it difficult to reduce the weight andsize of the robot hand module. In addition, in the case of the robothand module to which a wire is applied to reduce the weight and size ofthe robot hand module, the wire may be damaged during a process ofrotating a joint, which causes a deterioration in durability of therobot hand module. Therefore, there is a need for a robot hand modulehaving a novel structure capable of solving the above-mentionedproblems.

SUMMARY

The present disclosure relates to a robot hand module. Particularembodiments relate to a robot hand module having a structure capable ofimplementing a motion of a human hand.

Embodiments of the present disclosure can provide a robot hand modulehaving a novel structure capable of reducing the weight and size of therobot hand module and implementing a motion similar to a motion of ahuman hand.

An exemplary embodiment of the present disclosure provides a robot handmodule including a finger module and a palm part to which the fingermodule is coupled, in which the finger module includes a fingerphalangeal part movably coupled to the palm part, a finger cable parthaving one side connected to the finger phalangeal part, and a fingerdriving part connected to the other side of the finger cable part andconfigured to operate the finger phalangeal part by extending the fingercable part to the outside or retracting the finger cable part, in whichthe finger phalangeal part includes finger link parts including aplurality of link members and a finger link driving part configured totransmit power to the finger link parts in a rectilinear direction, andin which when the finger link parts receive power from the finger linkdriving part in the rectilinear direction, some of the plurality of linkmembers rotate relative to the other link members, such that the fingerphalangeal part rotates relative to the palm part.

The finger link parts may include a first link part having one sideconnected to the finger link driving part and configured to move byreceiving power from the finger link driving part, a second link parthaving one side coupled to the first link part and provided to berectilinearly movable, a third link part having one side rotatablycoupled to the second link part, and a fourth link part having one siderotatably coupled to the third link part, and the finger phalangeal partmay be rotated relative to the palm part by a rotational motion of thefourth link part.

The first link part may include a screw member connected to the linkdriving part.

The second link part may further include a nut member disposed on anupper portion of the screw member and coupled to the screw member by abolt-nut engagement and a sliding member configured to be in closecontact with an upper portion of the nut member, and the nut member andthe sliding member may move in an upward/downward direction as the screwmember is rotated by the finger link driving part.

The third link part may include a rod member rotatably coupled to oneside of the sliding member.

The fourth link part may include a cylindrical member rotatably coupledto one side of the rod member and provided to be rotatable about arotary shaft.

The finger driving part may include a first finger driving part, and thefinger cable part may include a first finger cable extended from thefirst finger driving part, having one side in contact with one surfaceof the fourth link part, and having the other side fixed in the fingerphalangeal part, and a second finger cable extended from the firstfinger driving part, having one side in contact with the other surfaceof the fourth link part, and having the other side fixed in the fingerphalangeal part.

In a region in which the first finger cable and the second finger cableface the fourth link part, the first finger cable and the second fingercable may be positioned in a width of the fourth link part at anyrotation angle of the fourth link part, and the first finger cable andthe second finger cable may be configured to slide relative to thefourth link part.

The finger phalangeal part may include a first finger phalangeal memberhaving one side rotatably coupled to the fourth link part, a secondfinger phalangeal member having one side rotatably coupled to the firstfinger phalangeal member, a third finger phalangeal member having oneside rotatably coupled to the second finger phalangeal member, and afinger insertion member having one side coupled to the first fingerphalangeal member and the other side inserted and coupled into the palmpart.

The finger driving part may further include a second finger drivingpart, and the finger cable part may further include a third finger cableextended from the second finger driving part and having one side fixedto the third finger phalangeal member.

The finger phalangeal part may include first finger pulleys disposed inthe first finger phalangeal member and a second finger pulley disposedin the second finger phalangeal member. The first finger pulleys mayinclude a first-1 finger pulley and a first-2 finger pulley disposedbetween the first-1 finger pulley and the second finger pulley in adirection in which the third finger cable extends, and the third fingercable may be fixed at one side of the third finger phalangeal member ina state in which the third finger cable is in contact with the first-1finger pulley, the first-2 finger pulley, and the second finger pulley.

When the finger phalangeal part is cut in a direction in which the firstto third finger phalangeal members are disposed, the third finger cablemay be bent clockwise based on a region being in contact with thefirst-1 finger pulley and then extend toward the first-2 finger pulley,the third finger cable may be bent counterclockwise based on a regionbeing in contact with the first-2 finger pulley and then extend towardthe second finger pulley, and the third finger cable may be bentclockwise based on a region being in contact with the second fingerpulley and then extend toward the third finger phalangeal member.

The finger phalangeal part may include a first finger joint region whichis disposed in a region in which the first finger phalangeal member andthe second finger phalangeal member are coupled to each other and inwhich the first finger phalangeal member and the second fingerphalangeal member are provided to be rotatable relative to each other,and a second finger joint region which is disposed in a region in whichthe second finger phalangeal member and the third finger phalangealmember are coupled to each other and in which the second fingerphalangeal member and the third finger phalangeal member are provided tobe rotatable relative to each other, and the third finger cable may bein contact with the first finger joint region or the second finger jointregion.

When the finger phalangeal part is cut in the direction in which thefirst to third finger phalangeal members are disposed, the third fingercable may be bent counterclockwise based on the region being in contactwith the first finger joint region and then extend toward the secondfinger pulley.

When the finger phalangeal part is cut in the direction in which thefirst to third finger phalangeal members are disposed, the third fingercable may be bent counterclockwise based on a region being in contactwith the second finger joint region and then extend toward the thirdfinger phalangeal member.

The finger cable part may further include a fourth finger cable havingone end portion fixed in the first finger phalangeal member and theother opposite end portion fixed in the third finger phalangeal member,and the fourth finger cable may be in contact with the first fingerjoint region or the second finger joint region.

When the finger phalangeal part is cut in the direction in which thefirst to third finger phalangeal members are disposed, the fourth fingercable may be bent clockwise based on a region being in contact with thefirst finger joint region and then extend toward the second finger jointregion.

When the finger phalangeal part is cut in the direction in which thefirst to third finger phalangeal members are disposed, the fourth fingercable may be bent counterclockwise based on a region being in contactwith the second finger joint region and then fixed in the third fingerphalangeal member.

The fourth finger cable may be spaced apart from the first finger pulleyand the second finger pulley.

The finger phalangeal part may further include a finger elastic memberhaving one end portion fixed in the second finger phalangeal member andthe other opposite end portion fixed in the third finger phalangealmember and configured to provide a rotational restoring force when thethird finger phalangeal member rotates relative to the second fingerphalangeal member.

According to embodiments of the present disclosure, it is possible toprovide the robot hand module having the novel structure capable ofreducing the weight and size of the robot hand module and implementingthe motion similar to the motion of the human hand.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a top plan view illustrating a robot hand module according toembodiments of the present disclosure.

FIG. 2 is a top plan view illustrating a state in which a thumb moduleand some finger modules are disassembled from the robot hand moduleaccording to embodiments of the present disclosure.

FIG. 3 is a side view illustrating the robot hand module according toembodiments of the present disclosure.

FIG. 4 is a side view illustrating arrangement angles of a thumb drivingpart and a finger driving part provided in the robot hand moduleaccording to embodiments of the present disclosure and an arrangementangle of a driving part of a comparative example.

FIG. 5 is a cross-sectional view illustrating a structure of the thumbmodule provided in the robot hand module according to embodiments of thepresent disclosure.

FIG. 6 is a cross-sectional view illustrating a state in which an objectis grasped by the thumb module provided in the robot hand moduleaccording to embodiments of the present disclosure.

FIG. 7 is a side view illustrating a structure of the thumb moduleprovided in the robot hand module according to embodiments of thepresent disclosure.

FIG. 8 is a cross-sectional view illustrating a structure of the fingermodule provided in the robot hand module according to embodiments of thepresent disclosure.

FIG. 9 is a cross-sectional view illustrating a state in which an objectis grasped by the finger module provided in the robot hand moduleaccording to embodiments of the present disclosure.

FIG. 10 is a view conceptually illustrating a structure of a finger linkpart provided in the robot hand module according to embodiments of thepresent disclosure.

FIG. 11 is a view conceptually illustrating a state in which the fingerlink part provided in the robot hand module according to embodiments ofthe present disclosure performs a rotational motion.

FIG. 12 is a side view illustrating a structure of the finger moduleprovided in the robot hand module according to embodiments of thepresent disclosure.

FIGS. 13 and 14 are cross-sectional views illustrating a structure of afinger pre-tensioner provided in the robot hand module according toembodiments of the present disclosure.

FIGS. 15 and 16 are perspective views illustrating detailed structuresof the thumb driving part and the finger driving part provided in therobot hand module according to embodiments of the present disclosure.

FIG. 17 is a cross-sectional view illustrating detailed structures ofthe thumb driving part and the finger driving part provided in the robothand module according to embodiments of the present disclosure.

FIG. 18 is a view illustrating components for adjusting tension of wiresprovided in a finger phalangeal part provided in the robot hand moduleaccording to embodiments of the present disclosure.

FIG. 19 is an enlarged cross-sectional view of part Z in FIG. 18 .

FIG. 20 is a cross-sectional view illustrating a cross-sectionalstructure of a cable provided in the robot hand module according toembodiments of the present disclosure.

DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

Hereinafter, a structure of a robot hand module according to embodimentsof the present disclosure will be described below with reference to thedrawings.

FIG. 1 is a top plan view illustrating a robot hand module according toembodiments of the present disclosure, and FIG. 2 is a top plan viewillustrating a state in which a thumb module and some finger modules aredisassembled from the robot hand module according to embodiments of thepresent disclosure. In addition, FIG. 3 is a side view illustrating therobot hand module according to embodiments of the present disclosure,and FIG. 4 is a side view illustrating arrangement angles of a thumbdriving part and a finger driving part provided in the robot hand moduleaccording to embodiments of the present disclosure and an arrangementangle of a driving part of a comparative example.

A robot hand module 10 according to embodiments of the presentdisclosure may have a structure capable of mimicking a motion of a humanhand. For example, the robot hand module 10 may be provided in ahumanoid robot.

Meanwhile, in the present specification, a thumb, and the other fingers,except for the thumb, will be separately described. That is, accordingto embodiments of the present specification, the fingers may beunderstood as including an index finger, a middle finger, a ring finger,and a little finger but excluding the thumb.

The robot hand module 10 according to the present disclosure may includea thumb module 100 configured to mimic a motion of a human thumb, fingermodules 200 configured to mimic motions of human fingers, and a palmpart 300 to which the thumb module 100 and the finger modules 200 arecoupled. The robot hand module 10 may include a single thumb module andfour finger modules. The four finger modules may be configured to mimicthe motions of the index finger, the middle finger, the ring finger, andthe little finger, respectively.

The thumb module 100 may include a thumb phalangeal part 110 movablycoupled to the palm part 300, a thumb cable part 120 having one sidecoupled to the thumb phalangeal part 110, and a thumb driving part 130connected to the other side of the thumb cable pall 120 and configuredto operate the thumb phalangeal part 110 by extending the thumb cablepall 120 to the outside or retracting the thumb cable part 120.

The finger module 200 may include a finger phalangeal part 210 movablycoupled to the palm part 300, a finger cable part 220 having one sideconnected to the finger phalangeal pall 210, and a finger driving pall230 connected to the other side of the finger cable part 220 andconfigured to operate the finger phalangeal part 210 by extending thefinger cable pall 220 to the outside or retracting the finger cable pall220. Meanwhile, the finger modules 200 may include an index fingermodule 200 a, a middle finger module 200 b, a ring finger module 200 c,and a little finger module good. Meanwhile, the thumb driving part 130and the finger driving part 230 may each be provided in plural. Inaddition, the thumb driving part 130 and the finger driving parts 230may be disposed at a position corresponding to a forearm of a humanhand.

According to embodiments of the present disclosure, the driving parts130 and 230 may each control the motion of each of the phalangeal parts110 and 210 using tension of the cable part by extending the cable partto the outside or retracting the cable part. In this case, the thumbphalangeal part 110 and the finger phalangeal parts 210 may implementbending/stretching motions and extension motions of the human thumb andthe human fingers.

Meanwhile, referring to FIGS. 3 and 4 , the driving part 130 may includean inlet region 130 a through which the cable part 120 is extended tothe outside, and the driving part 230 may include an inlet region 230 athrough which the cable part 220 is extended to the outside. Inembodiments of the present specification, reference numeral 130 aindicates the inlet region provided in the thumb driving part 130, andreference numeral 230 a indicates the inlet region provided in thefinger driving part 230.

In this case, according to embodiments of the present disclosure, anacute angle may be defined between a direction D1 in which the inletregions 130 a and 230 a are directed toward the outside and a directionD2 in which the plurality of driving parts is disposed.

Referring to FIGS. 3 and 4 , a height h2 occupied by the driving part inthe robot hand module is relatively large in a case in which a rightangle is defined between a direction D1′ in which an inlet region 130 a′or 230 a′ provided in the driving part is directed toward the outsideand the direction D2 in which the plurality of driving parts 130′ and230′ is disposed. In addition, a radius of curvature of a cable part120′ or 220′ extended from the inlet region 130 a′ or 230 a′ increases,and as a result, the cable part 120′ or 220′ has a length of l2 in thevicinity of the inlet region. This means that friction occurring on thecable part increases during the process of operating the driving part,which causes a deterioration in efficiency in transmitting power foroperating the driving part. Furthermore, the cable part 120′ or 220′ isgreatly bent to be extended to the phalangeal part, which may adverselyaffect the durability of the cable part 120′ or 220′.

However, according to embodiments of the present disclosure, the heighth1 occupied by the driving part 130 or 230 in the robot hand modulesignificantly decreases when an acute angle is defined between thedirections D1 and D2. Therefore, this configuration may be advantageousin reducing the size of the robot hand module. Furthermore, according toembodiments of the present disclosure, a radius of curvature of thecable part 120 or 220 extended from the inlet region 130 a or 230 adecreases, such that the cable part 120 or 220 has a length of l1shorter than the length of l2 in the vicinity of the inlet region 130 aor 230 a. Therefore, according to embodiments of the present disclosure,the friction occurring on the cable part decreases during the process ofoperating the driving part, which makes it possible to improve theefficiency in transmitting the power for operating the driving part.Therefore, it is possible to smoothly operate the robot hand module eventhough a driving part having a low output is mounted, and as a result,it is possible to reduce the size of the robot hand module. Furthermore,a degree to which the cable part 120 or 220 is bent to be extended tothe phalangeal part 110 or 220 decreases, which is advantageous inimproving the durability of the cable part 120 or 220. For example, theacute angle may be 20 degrees to 70 degrees, but embodiments of thepresent disclosure are not limited to the magnitude of the acute angle.

Meanwhile, as illustrated in FIGS. 1 and 2 , the thumb phalangeal part110 and the finger phalangeal parts 210 may be coupled to a front endportion of the palm part 300. In addition, the thumb driving part 130and the finger driving parts 230 may face a rear end portion of the palmpart 300.

In addition, since the thumb module 100 and the finger modules 200respectively have the thumb driving part 130 and the finger drivingparts 230, the robot hand module 10 may have the plurality of drivingparts. In this case, according to embodiments of the present disclosure,the thumb driving part 130, which is the driving part provided in thethumb module 100, and at least one of the finger driving parts 230,which are the driving parts respectively provided in the finger modules200, may be disposed side by side. In addition, the driving partprovided in the index finger module 200 a is an index finger drivingpart, the driving part provided in the middle finger module 200 b is amiddle finger driving part, the driving part provided in the ring fingermodule 200 c is a ring finger driving part, and the driving partprovided in the little finger module good is a little finger drivingpart. The index finger driving part, the middle finger driving part, thering finger driving part, and the little finger driving part may bedisposed side by side. More particularly, all of the thumb driving part,the index finger driving part, the middle finger driving part, the ringfinger driving part, and the little finger driving part may be disposedside by side. In this case, whether the driving parts are disposed sideby side may be determined based on whether the inlet regionsrespectively provided in the driving parts are disposed side by side.

More particularly, a distance between the thumb driving part 130 and thepalm part 300 may be shorter than a distance between the finger drivingpart 230 and the palm part 300.

In the case of the human hand, a force of the thumb grasping an objectis higher than a force of a finger grasping an object. Therefore, inorder for the robot hand module 10 according to embodiments of thepresent disclosure to more realistically mimic the motion of the humanhand, a force of the thumb module 100 grasping an object needs to behigher than a force of the finger module 200 grasping an object. To thisend, it is necessary to minimize a loss of power caused by frictionoccurring on the thumb cable part 120 provided in the thumb module 100.

Therefore, according to embodiments of the present disclosure, thedistance between the thumb driving part 130 and the palm part 300 isshorter than the distance between the finger driving part 230 and thepalm part 300. Therefore, it is possible to minimize a length of thethumb cable part 120 and thus minimize friction occurring on the thumbcable part 120, thereby maximizing the force for grasping an object atthe time of operating the thumb module 100.

In addition, according to embodiments of the present disclosure, adistance between the index finger driving part and the palm part 300 maybe shorter than a distance between the middle finger driving part andthe palm part 300, and a distance between the middle finger driving partand the palm part 300 may be shorter than a distance between the ringfinger driving part and the palm part 300. In addition, a distancebetween the ring finger driving part and the palm part 300 may beshorter than a distance between the little finger driving part and thepalm part 300. In this case, even though the index finger driving part,the middle finger driving part, the ring finger driving part, and thelittle finger driving part have the same output, a force of the indexfinger module 200 a grasping an object may be higher than a force of themiddle finger module 200 b grasping an object, a force of the middlefinger module 200 b grasping an object may be higher than a force of thering finger module 200 c grasping an object, and a force of the ringfinger module 200 c grasping an object may be higher than a force of thelittle finger module good grasping an object.

In addition, more particularly, according to embodiments of the presentdisclosure, the same angle may be defined between the direction D1 inwhich the inlet regions 130 a and 230 a of the driving partsrespectively provided in the thumb module 100, the index finger module200 a, the middle finger module 200 b, the ring finger module 200 e, andthe little finger module good are directed toward the outside and thedirection D2 in which the plurality of driving parts is disposed.

FIG. 5 is a cross-sectional view illustrating a structure of the thumbmodule provided in the robot hand module according to embodiments of thepresent disclosure, and FIG. 6 is a cross-sectional view illustrating astate in which an object is grasped by the thumb module provided in therobot hand module according to embodiments of the present disclosure. Inaddition, FIG. 7 is a side view illustrating a structure of the thumbmodule provided in the robot hand module according to embodiments of thepresent disclosure.

The thumb cable part 120 provided in the thumb module 100 may include afirst thumb cable 120-1 extended from the thumb driving part 130 andhaving one side fixed in the thumb phalangeal part 110, and a secondthumb cable 120-2 having one side and the other side respectively fixedin the thumb phalangeal part 110. The first thumb cable 120-1 and thesecond thumb cable 120-2 are configured to implement thebending/stretching motion and the extension motion of the thumbphalangeal part 110 and allow the motions of a plurality of phalangealmembers provided in the thumb phalangeal part 110 to be interlocked toone another. Therefore, the first thumb cable 120-1 and the second thumbcable 120-2 may be configured to allow the single thumb driving part 130to implement the motions of the plurality of phalangeal members, therebyimplementing an underactuated mechanism of the thumb module 100. Inaddition, as described below, even though some of the plurality ofphalangeal members interfere with an object and stop moving due to thebending/stretching motion of the thumb phalangeal part 110 when thethumb module 100 grasps the object, the first thumb cable 120-1 enablesthe remaining phalangeal members to continuously perform thebending/stretching motion, thereby allowing the thumb module 100 toeffectively grasp the object. For example, the first thumb cable 120-1may be configured to enable the thumb module 100 to implement aconformal grip.

Continuing to refer to FIGS. 5 and 6 , the thumb phalangeal part 110 mayinclude a first thumb phalangeal member 110-1 provided adjacent to thepalm pall 300, a second thumb phalangeal member 110-2 having one siderotatably coupled to the first thumb phalangeal member 110-1, a thirdthumb phalangeal member 110-3 having one side rotatably coupled to thesecond thumb phalangeal member 110-2, a fourth thumb phalangeal member110-4 having one side rotatably coupled to the third thumb phalangealmember 110-3, and a thumb insertion member 110-5 having one side coupledto the first thumb phalangeal member 110-1 and the other side insertedand coupled into the palm part 300. In more detail, the fourth thumbphalangeal member 110-4 of the thumb phalangeal part 110 may be disposedfarthest from the palm part 300, and the third thumb phalangeal member110-3, the second thumb phalangeal member 110-2, and the first thumbphalangeal member 110-1 may be disposed in this order in the directiontoward the palm part 300. Meanwhile, one end portion of the second thumbcable 120-2 may be fixed in the second thumb phalangeal member 110-2,and the other end portion of the second thumb cable 120-2 may be fixedin the fourth thumb phalangeal member 110-4.

In this case, referring to FIGS. 5 and 6 , a direction in which thefourth thumb phalangeal member 110-4 rotates relative to the third thumbphalangeal member 110-3 and a direction in which the third thumbphalangeal member 110-3 rotates relative to the second thumb phalangealmember 110-2 may be perpendicular to a direction in which the secondthumb phalangeal member 110-2 rotates relative to the first thumbphalangeal member 110-1. In addition, the direction in which the secondthumb phalangeal member 110-2 rotates relative to the first thumbphalangeal member 110-1 may be perpendicular to a direction in which thefirst thumb phalangeal member 110-1 rotates relative to the thumbinsertion member 110-5. In addition, the direction in which the fourththumb phalangeal member 110-4 rotates relative to the third thumbphalangeal member 110-3 and the direction in which the third thumbphalangeal member 110-3 rotates relative to the second thumb phalangealmember 110-2 may be perpendicular to the direction in which the firstthumb phalangeal member 110-1 rotates relative to the thumb insertionmember 110-5.

That is, for example, the description will be made with reference to theconcept of an x-axis, a y-axis, and a z-axis which are imaginary axesperpendicular to one another. A rotation center axis about which thefourth thumb phalangeal member 110-4 rotates relative to the third thumbphalangeal member 110-3 and a rotation center axis about which the thirdthumb phalangeal member 110-3 rotates relative to the second thumbphalangeal member 110-2 may be parallel to the x-axis. A rotation centeraxis about which the second thumb phalangeal member 110-2 rotatesrelative to the first thumb phalangeal member 110-1 may be parallel tothe y-axis. A rotation center axis about which the first thumbphalangeal member 110-1 rotates relative to the thumb insertion member110-5 may be parallel to the z-axis.

Continuing to refer to FIGS. 5 and 6 , the thumb phalangeal part 110 mayinclude first thumb pulleys 116 disposed in the second thumb phalangealmember 110-2, and a second thumb pulley 117 disposed in the third thumbphalangeal member 110-3. The first thumb pulley 116 and the second thumbpulley 117 are configured to be in contact with the first thumb cable120-1. The first thumb pulley 116 and the second thumb pulley 117 may beconfigured to support the first thumb cable 120-1 so that the firstthumb cable 120-1 may extend along an optimized route to implement thebending/stretching motion of the thumb phalangeal part 110. The firstthumb pulley 116 and the second thumb pulley 117 may be configured tomove the first thumb cable 120-1 in a state in which predeterminedtension is applied to the first thumb cable 120-1 during the process inwhich the first thumb cable 120-1 is extended or retracted by the thumbdriving part 130. The first thumb pulley 116 and the second thumb pulley117 may each be provided to be rotatable about a stationary rotaryshaft.

In more detail, the first thumb pulleys 116 may include a first-1 thumbpulley 116-1, a first-2 thumb pulley 116-2 disposed between the first-1thumb pulley 116-1 and the second thumb pulley 117 based on thedirection in which the first thumb cable 120-1 extends, and a first-3thumb pulley 116-3 disposed between the first-2 thumb pulley 116-2 andthe second thumb pulley 117 based on the direction in which the firstthumb cable 120-1 extends. In this case, according to embodiments of thepresent disclosure, the first thumb cable 120-1 may be fixed at one sideof the fourth thumb phalangeal member 110-4 in a state in which thefirst thumb cable 120-1 is in contact with the first-1 thumb pulley116-1, the first-2 thumb pulley 116-2, the first-3 thumb pulley 116-3,and the second thumb pulley 117. FIGS. 5 and 6 illustrate an example inwhich the first-1 thumb pulley 116-1 and the first-3 thumb pulley 116-3are disposed in the right region in the second thumb phalangeal member110-2, the first-2 thumb pulley 116-2 is disposed in the left region inthe second thumb phalangeal member 110-2, and the first-3 thumb pulley116-3 is disposed above the first-1 thumb pulley 116-1.

In more detail, referring to the shape made by cutting the thumbphalangeal part 110 in the direction in which the first to fourth thumbphalangeal members 110-1, 110-2, 110-3, and 110-4 are disposed, thefirst thumb cable 120-1 may be bent counterclockwise based on the regionbeing in contact with the first-1 thumb pulley 116-1 and then extendtoward the first-2 thumb pulley 116-2, the first thumb cable 120-1 maybe bent clockwise based on the region being in contact with the first-2thumb pulley 116-2 and then extend toward the second thumb pulley 117 orthe first-3 thumb pulley 116-3, the first thumb cable 120-1 may be bentcounterclockwise based on the region being in contact with the first-3thumb pulley 116-3 and then extend toward the second thumb pulley 117,and the first thumb cable 120-1 may be bent clockwise based on theregion being in contact with the second thumb pulley 117 and then extendtoward the fourth thumb phalangeal member 110-4.

Continuing to refer to FIGS. 5 and 6 , the thumb phalangeal part 110 mayfurther include a first thumb joint region 118-1 which is disposed in aregion in which the second thumb phalangeal member 110-2 and the thirdthumb phalangeal member 110-3 are coupled to each other and in which thesecond thumb phalangeal member 110-2 and the third thumb phalangealmember 110-3 are provided to be rotatable relative to each other, and asecond thumb joint region 118-2 which is disposed in a region in whichthe third thumb phalangeal member 110-3 and the fourth thumb phalangealmember 110-4 are coupled to each other and in which the third thumbphalangeal member 110-3 and the fourth thumb phalangeal member 110-4 areprovided to be rotatable relative to each other. Joint regions may beprovided in the region in which the first thumb phalangeal member 110-1and the second thumb phalangeal member 110-2 are coupled to each otherand the region in which the thumb insertion member 110-5 and the firstthumb phalangeal member 110-1 are coupled to each other. However, inembodiments of the present specification, separate reference numeralsare not assigned to the joint regions.

In this case, according to embodiments of the present disclosure, thefirst thumb cable 120-1 may be in contact with the first thumb jointregion 118-1 or the second thumb joint region 118-2. More particularly,the first thumb cable 120-1 may be in contact with the first thumb jointregion 118-1 and the second thumb joint region 118-2.

In more detail, referring to the shape made by cutting the thumbphalangeal part 110 in the direction in which the first to fourth thumbphalangeal members 110-1, 110-2, 110-3, and 110-4 are disposed, thefirst thumb cable 120-1 may be bent counterclockwise based on the regionbeing in contact with the first thumb joint region 118-1 and then extendtoward the second thumb pulley 117, and the first thumb cable 120-1 maybe bent counterclockwise based on the region being in contact with thesecond thumb joint region 118-2 and then extend toward the fourth thumbphalangeal member 110-4.

Meanwhile, as described above, one end portion of the first thumb cable120-1 may be fixed in the thumb phalangeal part 110. In more detail, asillustrated in FIGS. 5 and 6 , one end portion of the first thumb cable120-1 may be fixed in the fourth thumb phalangeal member 110-4. This isto implement the underactuated mechanism and the conformal grip byallowing the second to fourth thumb phalangeal members 110-2, 110-3, and110-4 to move together during the process of extending or retracting thefirst thumb cable 120-1.

Meanwhile, like the first thumb cable 120-1, the second thumb cable120-2 may also be in contact with the first thumb joint region 118-1 orthe second thumb joint region 118-2. More particularly, the second thumbcable 120-2 may be in contact with the first thumb joint region 118-1and the second thumb joint region 118-2.

In more detail, referring to the shape made by cutting the thumbphalangeal part 110 in the direction in which the first to fourth thumbphalangeal members 110-1, 110-2, 110-3, and 110-4 are disposed, thesecond thumb cable 120-2 may be bent clockwise based on the region beingin contact with the first thumb joint region 118-1 and then extendtoward the second thumb joint region 118-2, and the second thumb cable120-2 may be bent counterclockwise based on the region being in contactwith the second thumb joint region 118-2 and then fixed in the fourththumb phalangeal member 110-4. Therefore, as illustrated in FIGS. 5 and6 , the region being in contact with the first thumb cable 120-1 in thefirst thumb joint region 118-1 and the region being in contact with thesecond thumb cable 120-2 in the first thumb joint region 118-1 may faceeach other with the first thumb joint region 118-1 interposedtherebetween. Both the region being in contact with the first thumbcable 120-1 in the second thumb joint region 118-2 and the region beingin contact with the second thumb cable 120-2 in the second thumb jointregion 118-2 may be disposed at one side of the second thumb jointregion 118-2.

Meanwhile, unlike the first thumb cable 120-1, the second thumb cable120-2 may be spaced apart from the first thumb pulleys 116 and thesecond thumb pulley 117. Therefore, the second thumb cable 120-2 may notbe in contact with the first thumb pulley 116 and the second thumbpulley 117.

In addition, according to embodiments of the present disclosure, thethumb phalangeal part 110 may further include a thumb elastic member inhaving one end portion fixed in the third thumb phalangeal member 110-3and the other opposite end portion fixed in the fourth thumb phalangealmember 110-4 and configured to provide a rotational restoring force whenthe fourth thumb phalangeal member 110-4 rotates relative to the thirdthumb phalangeal member 110-3. The thumb elastic member 111 may beconfigured to implement the extension motion that enables the thumbphalangeal part 110 to return to a state before the bending/stretchingmotion by rotating the fourth thumb phalangeal member 110-4 relative tothe third thumb phalangeal member 110-3 when the bending/stretchingmotion of the thumb phalangeal part 110 is ended. For example, the thumbelastic member 111 may be a spring member.

Meanwhile, referring to FIG. 7 , according to embodiments of the presentdisclosure, thumb concave regions nob, which are concavely formed, maybe respectively disposed on inner surfaces of the second to fourth thumbphalangeal members 110-2, 110-3, and 110-4 in the direction in which thesecond to fourth thumb phalangeal members 110-2, 110-3, and 110-4 arebent. The thumb concave regions nob may increase a contact area betweenthe thumb phalangeal part 110 and an object when the thumb phalangealpart 110 grasps the object by performing the bending/stretching motion,thereby allowing the thumb phalangeal part 110 to more stably grasp theobject.

A method of operating the thumb phalangeal part 110 of the robot handmodule 10 according to embodiments of the present disclosure will bedescribed below with reference to FIGS. 5 to 7 .

As illustrated in FIG. 5 , when the thumb driving part 130 operates toretract the first thumb cable 120-1 in the state in which the thumbphalangeal part 110 is unfolded, the first thumb cable 120-1 isretracted to the thumb driving part 130 through a route extending alongthe second thumb joint region 118-2, the second thumb pulley 117, thefirst thumb joint region 118-1, the first-3 thumb pulley 116-3, thefirst-2 thumb pulley 116-2, and the first-1 thumb pulley 116-1. In thiscase, the length of the first thumb cable 120-1 in the thumb phalangealpart 110 decreases as the first thumb cable 120-1 is retracted.Therefore, the thumb phalangeal part 110 performs the bending/stretchingmotion by means of: (i) the interference between the first thumb cable120-1 and the first thumb pulley 116, the second thumb pulley 117, thefirst thumb joint region 118-1, and the second thumb joint region 118-2;(ii) the rotational motion between the second thumb phalangeal member110-2 and the third thumb phalangeal member 110-3 in the first thumbjoint region 118-1; and (iii) the rotational motion between the thirdthumb phalangeal member 110-3 and the fourth thumb phalangeal member110-4 in the second thumb joint region 118-2. In particular, accordingto the present disclosure, the thumb cable part 120 includes not onlythe first thumb cable 120-1, but also the second thumb cable 120-2 whichhas one end portion and the other end portion respectively fixed to thesecond thumb phalangeal member 110-2 and the fourth thumb phalangealmember 110-4 and is bent in the regions respectively being in contactwith the first thumb joint region 118-1 and the second thumb jointregion 118-2. Therefore, the motions of the first thumb joint region118-1 and the second thumb joint region 118-2 may be synchronized duringthe bending/stretching process of the thumb phalangeal part 110.Therefore, the plurality of thumb phalangeal members may be moved by theoperation of the single thumb driving part 130, thereby implementing theunderactuated mechanism.

Meanwhile, as illustrated in FIG. 6 , in order for the thumb module 100to grasp an object A, the thumb phalangeal part 110 may perform thebending/stretching motion so that all of the second thumb phalangealmember 110-2, the third thumb phalangeal member 110-3, and the fourththumb phalangeal member 110-4 press the object A. Therefore, even thoughthe second thumb phalangeal member 110-2 and the third thumb phalangealmember 110-3 press the object A first and thus the second thumbphalangeal member 110-2 and the third thumb phalangeal member 110-3 arestopped during the bending/stretching process of the thumb phalangealpart 110, the fourth thumb phalangeal member 110-4 needs to continuouslyrotate relative to the third thumb phalangeal member 110-3.

In this case, according to embodiments of the present disclosuredescribed above, since the end portion of the first thumb cable 120-1 isfixed in the fourth thumb phalangeal member 110-4, the fourth thumbphalangeal member 110-4 may consistently rotate until the fourth thumbphalangeal member 110-4 presses the object A even though the secondthumb phalangeal member 110-2 and the third thumb phalangeal member110-3 are stopped. Therefore, according to embodiments of the presentdisclosure, the thumb phalangeal part 110 may effectively grasp theobject A by means of the conformal grip.

FIG. 8 is a cross-sectional view illustrating a structure of the fingermodule provided in the robot hand module according to embodiments of thepresent disclosure, and FIG. 9 is a cross-sectional view illustrating astate in which an object is grasped by the finger module provided in therobot hand module according to embodiments of the present disclosure.FIG. 10 is a view conceptually illustrating a structure of a finger linkpart provided in the robot hand module according to embodiments of thepresent disclosure, and FIG. 11 is a view conceptually illustrating astate in which the finger link part provided in the robot hand moduleaccording to embodiments of the present disclosure performs a rotationalmotion. In addition, FIG. 12 is a side view illustrating a structure ofthe finger module provided in the robot hand module according toembodiments of the present disclosure.

Referring to FIGS. 8 to 12 , the finger phalangeal part 210 may includefinger link parts 215 including a plurality of link members, and afinger link driving part 219 configured to transmit power to the fingerlink part 215 in a rectilinear direction. According to embodiments ofthe present disclosure, when the finger link parts 215 receive the powerfrom the finger link driving part 219 in the rectilinear direction, someof the plurality of link members provided in the finger link parts 215may rectilinearly move, whereas some of the plurality of link membersmay rotate relative to the other link members, such that the fingerphalangeal part 210 may rotate relative to the palm part 300. That is,according to embodiments of the present disclosure, the finger linkparts 215 may be configured to implement the rotational motion of thefinger module 200 relative to the palm part 300 by converting therectilinear motion into the rotational motion.

In more detail, the finger link parts 215 may include a first link part215-1 having one side connected to the finger link driving part 219 andconfigured to rectilinearly move by receiving the power from the fingerlink driving part 219, a second link part 215-2 having one side coupledto the first link part 215-1 and configured to be rectilinearly movable,a third link part 215-3 having one side rotatably coupled to the secondlink part 215-2, and a fourth link part 215-4 having one side rotatablycoupled to the third link part 215-3. In this case, according toembodiments of the present disclosure, the finger phalangeal part 210may be rotated relative to the palm part 300 by the rotational motion ofthe fourth link part 215-4.

For example, the first link part 215-1 may be a screw member connectedto the finger link driving part 219 and configured to perform therotational motion. Therefore, according to embodiments of the presentdisclosure, the first link part 215-1 may rotate by receiving the powerfrom the finger link driving part 219, and thus the first link part215-1 may rectilinearly move in the upward/downward direction (based onFIGS. 8 and 9 ).

For example, the second link part 215-2 may include a nut member 215-2 acoupled to an upper portion of the screw member, which is the first linkpart 215-1, and coupled to the screw member by a bolt-nut engagement,and a sliding member 215-2 b disposed to be in close contact with anupper portion of the nut member 215-2 a and configured to slide in theupward/downward direction. Therefore, according to embodiments of thepresent disclosure, when the first link part 215-1, as the screw member,is rotated by the finger link driving part 219, the nut member 215-2 a,which is coupled to the screw member by the bolt-nut engagement, maymove in the upward/downward direction, and the sliding member 215-2 b,which is in close contact with the nut member 215-2 a, may also move inthe upward/downward direction. For example, the sliding member 215-2 bmay have an approximately cylindrical shape.

For example, the third link part 215-3 may be a rod member rotatablycoupled to one side of the sliding member 215-2 b. Referring to FIGS. 8to 10 , one end portion of the rod member, which is the third link part215-3, may be hingedly coupled to one side of the sliding member 215-2b. Therefore, when the sliding member 215-2 b moves in theupward/downward direction, the third link part 215-3 may move in theupward/downward direction and also rotate in the state in which one endportion of the third link part 215-3 is coupled to the sliding member215-2 b.

For example, the fourth link part 215-4 may include a cylindrical memberrotatably coupled to one side of the rod member and configured to berotatable about a rotation axis.

The fourth link part 215-4 may be connected to finger phalangeal members210-1, 210-2, and 210-3 to be described below. Therefore, when thefourth link part 215-4 rotates, the finger phalangeal members 210-1,210-2, and 210-3 may rotate relative to the palm part 300, such that thefinger phalangeal members 210-1, 210-2, and 210-3 may rotate relative tothe palm part 300 in the direction in which the palm part 300 extends(i.e., the direction parallel to the paper surface in FIGS. 10 and 11 ).This configuration is different from the following configuration inwhich the finger phalangeal members rotate so that the finger phalangealmembers perform the bending/stretching motions.

Continuing to refer to FIGS. 8 and 9 , the finger driving part 230 mayinclude a first finger driving part 231. In addition, the finger cablepart 220 may include a first finger cable 220-1 extended from the firstfinger driving part 231 and having one side in contact with one surfaceof the fourth link part 215-4 and the other side fixed in the fingerphalangeal part 210, and a second finger cable 220-2 extended from thefirst finger driving part 231 and having one side in contact with theother surface of the fourth link part 215-4 and the other side fixed inthe finger phalangeal part 210.

The first finger driving part 231 may be configured to extend or retractthe first finger cable 220-1 and the second finger cable 220-2 to rotatethe fourth link part 215-4 so that the finger phalangeal members 210-1,210-2, and 210-3 connected to the fourth link part 215-4 rotate toperform the bending/stretching motion.

In more detail, the second finger cable 220-2 may be retracted when thefirst finger driving part 231 extends the first finger cable 220-1. Thesecond finger cable 220-2 may be extended when the first finger drivingpart 231 retracts the first finger cable 220-1.

In particular, as illustrated in FIGS. 8 and 9 , the region in which thefirst finger cable 220-1 is in contact with the fourth link part 215-4and the region in which the second finger cable 220-2 is in contact withthe fourth link part 215-4 may face each other with the fourth link part215-4 interposed therebetween. Therefore, referring to FIGS. 8 and 9 ,the first finger driving part 231 may retract the first finger cable220-1 and extend the second finger cable 220-2 to rotate the fourth linkpart 215-4 clockwise, and the first finger driving part 231 may extendthe first finger cable 220-1 and retract the second finger cable 220-2to rotate the fourth link part 215-4 counterclockwise.

Meanwhile, as described above, the finger link parts 215 and the fingerlink driving part 219 may rotate the finger phalangeal members 210-1,210-2, and 210-3 relative to the palm part 300 in the direction in whichthe palm part 300 extends.

In this case, as described above, the fourth link part 215-4 mayinterfere with the first finger cable 220-1 and the second finger cable220-2 when the rotational motion is performed in the state in which thefirst finger cable 220-1 and the second finger cable 220-2 are incontact with the fourth link part 215-4. In this case, a loss of powermay occur due to friction between the fourth link part 215-4 and thefirst and second finger cables 220-1 and 220-2, and the first fingercable 220-1 and the second finger cable 220-2 may be damaged.

To prevent the problem, according to embodiments of the presentdisclosure, the first finger cable 220-1 and the second finger cable220-2 may slide relative to the fourth link part 215-4. For example, alubricating material may be applied to a region of the fourth link part215-4 which is in contact with the first finger cable 220-1 and thesecond finger cable 220-2.

In more detail, in a region in which the first finger cable 220-1 andthe second finger cable 220-2 face the fourth link part 215-4, the firstfinger cable 220-1 and the second finger cable 220-2 may be positionedin a width of the fourth link part 215-4 at any rotation angle of thefourth link part 215-4. This configuration may mean that the width ofthe fourth link part 215-4 is sufficiently large so that the firstfinger cable 220-1 and the second finger cable 220-2 may always be incontact with the fourth link part 215-4. In this case, the first fingercable 220-1 and the second finger cable 220-2 may be prevented frombeing separated from the fourth link part 215-4 even in a case in whicha rotation angle of the fourth link part 215-4 exceeds a predeterminedrange in accordance with the motion of the finger link part 215.Therefore, it is possible to implement a reversible operation of therobot hand module according to embodiments of the present disclosure.

Meanwhile, as illustrated in FIGS. 8 and 9 , the finger phalangeal part210 may include the first finger phalangeal member 210-1 having one siderotatably coupled to the fourth link part 215-4, the second fingerphalangeal member 210-2 having one side rotatably coupled to the firstfinger phalangeal member 210-1, the third finger phalangeal member 210-3having one side rotatably coupled to the second finger phalangeal member210-2, and a finger insertion member 210-4 having one side coupled tothe first finger phalangeal member 210-1 and the other side inserted andcoupled into the palm part 300. In more detail, the third fingerphalangeal member 210-3 of the finger phalangeal part 210 may bedisposed farthest from the palm part 300, and the second fingerphalangeal member 210-2 and the first finger phalangeal member 210-1 maybe disposed in this order in the direction toward the palm part 300.

In this case, referring to FIGS. 8 and 9 , a direction in which thethird finger phalangeal member 210-3 rotates relative to the secondfinger phalangeal member 210-2 and a direction in which the secondfinger phalangeal member 210-2 rotates relative to the first fingerphalangeal member 210-1 may be perpendicular to a direction in which thefirst finger phalangeal member 210-1 rotates relative to the fingerinsertion member 210-4. In this case, the rotational motion of the firstfinger phalangeal member 210-1 relative to the finger insertion member210-4 may be implemented by the finger link parts 215 and the fingerlink driving part 219. Therefore, the finger insertion member 210-4 mayface the finger link parts 215.

Meanwhile, the finger driving part 230 may further include a secondfinger driving part 232. In addition, the finger cable part 220 mayfurther include a third finger cable 220-3 extended from the secondfinger driving part 232 and having one side fixed to the third fingerphalangeal member 210-3, and a fourth finger cable 220-4 having one endportion fixed in the first finger phalangeal member 210-1 and the otheropposite end portion fixed in the third finger phalangeal member 210-3.In more detail, one end portion of the fourth finger cable 220-4 may befixed in the first finger phalangeal member 210-1, and the other endportion of the fourth finger cable 220-4 may be fixed in the thirdfinger phalangeal member 210-3.

The first finger cable 220-1, the second finger cable 220-2, the thirdfinger cable 220-3, and the fourth finger cable 220-4 are configured toimplement the bending/stretching motion of the finger phalangeal part210 and allow motions of a plurality of phalangeal members provided inthe finger phalangeal part 210 to be interlocked to one another.Therefore, the motions of the plurality of phalangeal members may beimplemented by a small number of finger driving parts 230, therebyimplementing the underactuated mechanism of the finger module 200. Inaddition, as described below, even though some of the plurality ofphalangeal members interfere with an object and stop moving due to thebending/stretching motion of the finger phalangeal part 210 when thefinger module 200 grasps the object, the third finger cable 220-3enables the remaining phalangeal members to continuously perform thebending/stretching motion, thereby allowing the finger module 200 toeffectively grasp the object. For example, the third finger cable 220-3may be configured to enable the finger module 200 to implement aconformal grip.

Continuing to refer to FIGS. 8 and 9 , the finger phalangeal pall 210may include first finger pulleys 216 disposed in the first fingerphalangeal member 210-1, and a second finger pulley 217 disposed in thesecond finger phalangeal member 210-2. The first finger pulley 216 andthe second finger pulley 217 are configured to be in contact with thethird finger cable 220-3. The first finger pulley 216 and the secondfinger pulley 217 may be configured to support the third finger cable220-3 so that the third finger cable 220-3 may extend along an optimizedroute to allow the third finger cable 220-3 to implement thebending/stretching motion of the finger phalangeal part 210. The firstfinger pulley 216 and the second finger pulley 217 may be configured tomove the third finger cable 220-3 in a state in which predeterminedtension is applied to the third finger cable 220-3 during the process inwhich the third finger cable 220-3 is extended or retracted by thesecond finger driving pall 232. The first finger pulley 216 and thesecond finger pulley 217 may each be provided to be rotatable about astationary rotary shaft.

In more detail, the first finger pulleys 216 may include a first-1finger pulley 216-1, and a first-2 finger pulley 216-2 disposed betweenthe first-1 finger pulley 216-1 and the second finger pulley 217 in thedirection in which the third finger cable 220-3 extends. In this case,according to embodiments of the present disclosure, the third fingercable 220-3 may be fixed at one side of the third finger phalangealmember 210-3 in a state in which the third finger cable 220-3 is incontact with the first-1 finger pulley 216-1, the first-2 finger pulley216-2, and the second finger pulley 217. FIGS. 8 and 9 illustrate anexample in which the first-1 finger pulley 216-1 is disposed in the leftregion in the first finger phalangeal member 210-1 and the first-2finger pulley 216-2 is disposed in the right region in the first fingerphalangeal member 210-1.

In more detail, referring to the shape made by cutting the fingerphalangeal part 210 in the direction in which the first to third fingerphalangeal members 210-1, 210-2, and 210-3 are disposed, the thirdfinger cable 220-3 may be bent clockwise based on the region being incontact with the first-1 finger pulley 216-1 and then extend toward thefirst-2 finger pulley 216-2, the third finger cable 220-3 may be bentcounterclockwise based on the region being in contact with the first-2finger pulley 216-2 and then extend toward the second finger pulley 217,and the third finger cable 220-3 may be bent clockwise based on theregion being in contact with the second finger pulley 217 and thenextend toward the third finger phalangeal member 210-3.

Continuing to refer to FIGS. 8 and 9 , the finger phalangeal part 210may further include a first finger joint region 218-1 which is disposedin a region in which the first finger phalangeal member 210-1 and thesecond finger phalangeal member 210-2 are coupled to each other and inwhich the first finger phalangeal member 210-1 and the second fingerphalangeal member 210-2 are provided to be rotatable relative to eachother, and a second finger joint region 218-2 which is disposed in aregion in which the second finger phalangeal member 210-2 and the thirdfinger phalangeal member 210-3 are coupled to each other and in whichthe second finger phalangeal member 210-2 and the third fingerphalangeal member 210-3 are provided to be rotatable relative to eachother.

In this case, according to embodiments of the present disclosure, thethird finger cable 220-3 may be in contact with the first finger jointregion 218-1 or the second finger joint region 218-2. More particularly,the third finger cable 220-3 may be in contact with the first fingerjoint region 218-1 and the second finger joint region 218-2.

In more detail, referring to the shape made by cutting the fingerphalangeal part 210 in the direction in which the first to third fingerphalangeal members 210-1, 210-2, and 210-3 are disposed, the thirdfinger cable 220-3 may be bent counterclockwise based on the regionbeing in contact with the first finger joint region 218-1 and thenextend toward the second finger pulley 217, and the third finger cable220-3 may be bent counterclockwise based on the region being in contactwith the second finger joint region 218-2 and then extend toward thethird finger phalangeal member 210-3.

Meanwhile, as described above, one end portion of the third finger cable220-3 may be fixed in the finger phalangeal part 210. In more detail, asillustrated in FIGS. 8 and 9 , one end portion of the third finger cable220-3 may be fixed in the third finger phalangeal member 210-3. This isto implement the underactuated mechanism and the conformal grip byallowing the first to third finger phalangeal members 210-1, 210-2, and210-3 to move together during the process of extending or retracting thethird finger cable 220-3.

Meanwhile, like the third finger cable 220-3, the fourth finger cable220-4 may also be in contact with the first finger joint region 218-1 orthe second finger joint region 218-2. More particularly, the fourthfinger cable 220-4 may be in contact with the first finger joint region218-1 and the second finger joint region 218-2.

In more detail, referring to the shape made by cutting the fingerphalangeal part 210 in the direction in which the first to thirdphalangeal members 210-1, 210-2, and 210-3 are disposed, the fourthfinger cable 220-4 may be bent clockwise based on the region being incontact with the first finger joint region 218-1 and then extend towardthe second finger joint region 218-2, and the fourth finger cable 220-4may be bent counterclockwise based on the region being in contact withthe second finger joint region 218-2 and then fixed in the third fingerphalangeal member 210-3. Therefore, as illustrated in FIGS. 8 and 9 ,the region in contact with the third finger cable 220-3 in the firstfinger joint region 218-1 and the region in contact with the fourthfinger cable 220-4 in the first finger joint region 218-1 may face eachother with the first finger joint region 218-1 interposed therebetween.Both the region in contact with the third finger cable 220-3 in thesecond finger joint region 218-2 and the region in contact with thefourth finger cable 220-4 in the second finger joint region 218-2 may bedisposed at one side of the second finger joint region 218-2.

Meanwhile, unlike the third finger cable 220-3, the fourth finger cable220-4 may be spaced apart from the first finger pulley 216 and thesecond finger pulley 217. Therefore, the fourth finger cable 220-4 maynot be in contact with the first finger pulley 216 and the second fingerpulley 217.

In addition, according to embodiments of the present disclosure, thefinger phalangeal part 210 may further include a finger elastic member211 having one end portion fixed in the second finger phalangeal member210-2 and the other opposite end portion fixed in the third fingerphalangeal member 210-3 and configured to provide a rotational restoringforce when the third finger phalangeal member 210-3 rotates relative tothe second finger phalangeal member 210-2. The finger elastic member 211may be configured to implement the extension motion that enables thefinger phalangeal part 210 to return to a state before thebending/stretching motion by rotating the third finger phalangeal member210-3 relative to the second finger phalangeal member 210-2 when thebending/stretching motion of the finger phalangeal part 210 is ended.For example, the finger elastic member 211 may be a spring member.

Meanwhile, referring to FIG. 12 , according to embodiments of thepresent disclosure, finger concave regions 210 b, which are concavelyformed, may be respectively disposed on inner surfaces of the first tothird finger phalangeal members 210-1, 210-2, and 210-3 in the directionin which the finger phalangeal part 210 is bent. The finger concaveregions 210 b may increase a contact area between the finger phalangealpart 210 and an object when the finger phalangeal part 210 grasps theobject by performing the bending/stretching motion, thereby allowing thefinger phalangeal part 210 to more stably grasp the object.

A method of operating the finger phalangeal part 210 of the robot handmodule 10 according to embodiments of the present disclosure will bedescribed below with reference to FIGS. 8 to 12 .

As illustrated in FIG. 8 , when the second finger driving part 232operates to retract the third finger cable 220-3 in the state in whichthe finger phalangeal part 210 is unfolded, the third finger cable 220-3is retracted to the second finger driving part 232 through a routeextending along the second finger joint region 218-2, the second fingerpulley 217, the first finger joint region 218-4 the first-2 fingerpulley 216-2, and the first-1 finger pulley 216-1. In this case, thelength of the third finger cable 220-3 in the finger phalangeal part 210decreases as the third finger cable 220-3 is retracted. Therefore, thefinger phalangeal part 210 performs the bending/stretching motion bymeans of: (i) the interference between the third finger cable 220-3 andthe first finger pulley 216, the second finger pulley 217, the firstfinger joint region 218-1, and the second finger joint region 218-2;(ii) the rotational motion between the first finger phalangeal member210-1 and the second finger phalangeal member 210-2 in the first fingerjoint region 218-1; and (iii) the rotational motion between the secondfinger phalangeal member 210-2 and the third finger phalangeal member210-3 in the second finger joint region 218-2. In particular, accordingto embodiments of the present disclosure, the finger cable part 220includes not only the first to third finger cables 220-1, 220-2, and220-3, but also the fourth finger cable 220-4 which has one end portionand the other end portion respectively fixed to the first fingerphalangeal member 210-1 and the third finger phalangeal member 210-3 andis bent in the regions in contact with the first finger joint region218-1 and the second finger joint region 218-2. Therefore, the motionsof the first finger joint region 218-1 and the second finger jointregion 218-2 may be synchronized during the bending/stretching processof the finger phalangeal part 210. Therefore, the plurality of fingerphalangeal members may be moved by the single finger driving part, i.e.,the second finger driving part 232, thereby implementing theunderactuated mechanism.

Meanwhile, as illustrated in FIG. 9 , in order for the finger module 200to grasp the object A, the finger phalangeal part 210 may perform thebending/stretching motion so that all of the first finger phalangealmember 210-1, the second finger phalangeal member 210-2, and the thirdfinger phalangeal member 210-3 press the object A. Therefore, eventhough the first finger phalangeal member 210-1 and the second fingerphalangeal member 210-2 press the object A first and thus the firstfinger phalangeal member 210-1 and the second finger phalangeal member210-2 are stopped during the bending/stretching process of the fingerphalangeal part 210, the third finger phalangeal member 210-3 needs tocontinuously rotate relative to the second finger phalangeal member210-2.

In this case, according to embodiments of the present disclosuredescribed above, since the end portion of the third finger cable 220-3is fixed in the third finger phalangeal member 210-3, the third fingerphalangeal member 210-3 may consistently rotate until the third fingerphalangeal member 210-3 presses the object A even though the firstfinger phalangeal member 210-1 and the second finger phalangeal member210-2 are stopped. Therefore, according to embodiments of the presentdisclosure, the finger phalangeal part 210 may effectively grasp theobject A by means of the conformal grip.

Meanwhile, referring back to FIGS. 5 and 6 , the thumb phalangeal part110 may include a thumb pre-tensioner 112 configured to pull one side ofthe thumb cable part 120. FIGS. 5 and 6 illustrate an example in whichthe thumb pre-tensioner 112 pulls one side of the first thumb cable120-1.

The tension applied to the first thumb cable 120-1 may be changed duringthe process of operating the thumb module loft In particular, in thecase of the first thumb cable 120-1, the tension is greatly changedduring the bending/stretching motion of the thumb phalangeal part 110.In a case in which the tension applied to the first thumb cable 120-1 istoo low or a case in which the tension is not applied but a compressiveforce is applied, the bending/stretching motion intended to beimplemented by the thumb module 100 is not appropriately implemented orthe first thumb cable 120-1 may deviate from an original position. Forexample, in a case in which a force is forcibly applied from the outsideand the thumb phalangeal part 110 provided in the thumb module 100performs the bending/stretching motion or in a case in which a force isforcibly applied from the outside, while the thumb phalangeal part 110is unfolded again after the bending/stretching motion, and thus thethumb phalangeal part 110 stops moving, the tension applied to the firstthumb cable 120-1 decreases or disappears until the thumb driving part130 separately operates to retract the first thumb cable 120-1. In thisprocess, the first thumb cable 120-1 may deviate from the originalposition, which may cause a breakdown of the thumb module 100.

The thumb pre-tensioner 112 may always apply the tension to the firstthumb cable 120-1 regardless of the force applied from the outside,thereby preventing the deviation of the first thumb cable 120-1 from theoriginal position and preventing a breakdown of the thumb module 100.

To this end, one side of the thumb pre-tensioner 112 may be disposed inthe thumb phalangeal part 110 and fixed relative to the thumb phalangealpart 110, and the other side of the thumb pre-tensioner 112 may be fixedto the thumb cable part 120, particularly, to the first thumb cable120-1. Therefore, when the tension applied to the first thumb cable120-1 decreases, the other side of the thumb pre-tensioner 112 may movetoward one side of the thumb pre-tensioner 112. When the tension appliedto the first thumb cable 120-1 increases, the other side of the thumbpre-tensioner 112 may move away from one side of the thumb pre-tensioner112.

Continuing to refer to FIGS. 5 and 6 , the thumb pre-tensioner 112 mayinclude a spring member 112-1 having one end portion fixed to the thumbphalangeal part 110, and a catching member 112-2 coupled to the otherend portion of the spring member 112-1 and configured to be in contactwith a part of the first thumb cable 120-1. The first thumb cable 120-1may be in contact with a region of the catching member 112-2 that facesthe other end portion of the spring member 112-1. Therefore, accordingto embodiments of the present disclosure, as the catching member 112-2is moved by the interference between the catching member 112-2 and thefirst thumb cable 120-1, the first thumb cable 120-1 may also move inthe region in contact with the catching member 112-2. Meanwhile, asillustrated in FIGS. 5 and 6 , at least a part of a trajectory alongwhich the catching member 112-2 may move may be positioned in a regionbetween the first-1 thumb pulley 116-1 and the first-2 thumb pulley116-2.

More particularly, as illustrated in FIGS. 5 and 6 , a space portion 110a, in which the catching member 112-2 is movably disposed, may bedefined in the thumb phalangeal part 110 and extend in a longitudinaldirection thereof, i.e., a direction in which the spring member 112-1extends. In this case, the spring member 112-1 may also be disposed inthe space portion 110 a. Therefore, when the tension applied to thefirst thumb cable 120-1 is changed, the catching member 112-2 may movein the space portion 110 a until the equilibrium is established betweenthe elastic force of the spring member 112-1 and the tension applied tothe first thumb cable 120-1. FIGS. 5 and 6 illustrate an example inwhich the space portion 110 a extends in a longitudinal directionthereof, i.e., a direction oblique with respect to the direction inwhich the thumb phalangeal part 110 extends. Meanwhile, as illustratedin FIGS. 5 and 6 , at least a part of the space portion 110 a may bepositioned in a region between the first-1 thumb pulley 116-1 and thefirst-2 thumb pulley 116-2. Therefore, the catching member 112-2 maymove away from the first-1 thumb pulley 116-1 and the first-2 thumbpulley 116-2 or move toward the first-1 thumb pulley 116-1 and thefirst-2 thumb pulley 116-2.

Meanwhile, as described above, the thumb phalangeal part 110 may includethe first thumb phalangeal member 110-1, the second thumb phalangealmember 110-2, the third thumb phalangeal member 110-3, the fourth thumbphalangeal member 110-4, and the thumb insertion member 110-5. In thiscase, the thumb pre-tensioner 112 may be disposed in the second thumbphalangeal member 110-2. However, the thumb pre-tensioner 112 may bepositioned in any one of the other thumb phalangeal members.

An operational principle of the thumb pre-tensioner 112 according toembodiments of the present disclosure will be described below.

When the tension applied to the first thumb cable 120-1 increases as thethumb driving part 130 retracts the first thumb cable 120-1 to performthe extension motion for unfolding the thumb phalangeal part 110, thecatching member 112-2, which interferes with the first thumb cable 120-1with the contact with the first thumb cable 120-1, moves in thedirection in which the tension applied to the first thumb cable 120-1decreases and the elastic force applied to the spring member 112-1increases. That is, the catching member 112-2 moves to be close to thefirst-1 thumb pulley 116-1 and the first-2 thumb pulley 116-2. When theequilibrium is established between the forces applied to the catchingmember 112-2 by the tension applied to the first thumb cable 120-1 andthe elastic force applied to the spring member 112-1, the catchingmember 112-2 is stopped.

On the contrary, the tension applied to the first thumb cable 120-1decreases when an external force is applied to the thumb phalangeal part110 and forces the thumb phalangeal part 110 to perform thebending/stretching motion or when the extension motion is stopped by anexternal force while the thumb phalangeal part 110 performs theextension motion. Therefore, the catching member 112-2 moves in thedirection in which the tension applied to the first thumb cable 120-1increases and the elastic force applied to the spring member 112-1decreases. That is, the catching member 112-2 moves to be distant fromthe first-1 thumb pulley 116-1 and the first-2 thumb pulley 116-2. Whenthe equilibrium is established between the forces applied to thecatching member 112-2 by the tension applied to the first thumb cable120-1 and the elastic force applied to the spring member 112-1, thecatching member 112-2 is stopped.

FIGS. 13 and 14 are cross-sectional views illustrating a structure of afinger pre-tensioner provided in the robot hand module according toembodiments of the present disclosure.

Like the thumb phalangeal part 110, the finger phalangeal part 210 mayalso include a finger pre-tensioner 212 configured to pull one side ofthe finger cable part 220. FIGS. 13 and 14 illustrate an example inwhich the finger pre-tensioner 212 pulls one side of the third fingercable 220-3.

The tension applied to the third finger cable 220-3 may be changedduring the process of operating the finger module 200. In particular, inthe case of the third finger cable 220-3 of the finger cable part, thetension is greatly changed during the bending/stretching motion of thefinger phalangeal part 210. In a case in which the tension applied tothe third finger cable 220-3 is too low or a case in which the tensionis not applied but a compressive force is applied, thebending/stretching motion intended to be implemented by the fingermodule 200 is not appropriately implemented or the third finger cable220-3 may deviate from an original position. For example, in a case inwhich a force is applied from the outside and the finger phalangeal part210 provided in the finger module 200 performs the bending/stretchingmotion or in a case in which a force is forcibly applied from theoutside, while the finger phalangeal part 210 is unfolded again afterthe bending/stretching motion, and thus the finger phalangeal part 210stops moving, the tension applied to the third finger cable 220-3decreases or disappears until the finger driving part 230 separatelyoperates to retract the third finger cable 220-3. In this process, thethird finger cable 220-3 may deviate from the original position, whichmay cause a breakdown of the finger module 200.

The finger pre-tensioner 212 may always apply the tension to the thirdfinger cable 220-3 regardless of the force applied from the outside,thereby preventing the deviation of the third finger cable 220-3 fromthe original position and preventing a breakdown of the finger module200.

To this end, one side of the finger pre-tensioner 212 may be disposed inthe finger phalangeal part 210 and fixed relative to the fingerphalangeal part 210, and the other side of the finger pre-tensioner 212may be fixed to the finger cable part 220, particularly, to the thirdfinger cable 220-3. Therefore, when the tension applied to the thirdfinger cable 220-3 decreases, the other side of the finger pre-tensioner212 may move toward one side of the finger pre-tensioner 212. When thetension applied to the third finger cable 220-3 increases, the otherside of the finger pre-tensioner 212 may move away from one side of thefinger pre-tensioner 212.

Continuing to refer to FIGS. 13 and 14 , the finger pre-tensioner 212may include a spring member 212-1 having one end portion fixed to thefinger phalangeal part 210, and a catching member 212-2 coupled to theother end portion of the spring member 212-1 and configured to be incontact with a part of the third finger cable 220-3. The third fingercable 220-3 may be in contact with a region of the catching member 212-2that faces the other end portion of the spring member 212-1. Therefore,according to embodiments of the present disclosure, as the catchingmember 212-2 is moved by the interference between the catching member212-2 and the third finger cable 220-3, the third finger cable 22-3 mayalso move in the region in contact with the catching member 212-2.

Meanwhile, more particularly, as illustrated in FIGS. 13 and 14 , aspace portion 210 a, in which the catching member 212-2 is movablydisposed, may be defined in the finger phalangeal part 210 and extend ina longitudinal direction thereof, i.e., a direction in which the springmember 212-1 extends. In this case, the spring member 212-1 may also bedisposed in the space portion 210 a. Therefore, when the tension appliedto the third finger cable 220-3 is changed, the catching member 212-2may move in the space portion 110 a until the equilibrium is establishedbetween the elastic force of the spring member 212-1 and the tensionapplied to the third finger cable 220-3. FIGS. 13 and 14 illustrate anexample in which the space portion 210 a extends in a longitudinaldirection thereof, i.e., a direction perpendicular to the direction inwhich the finger phalangeal part 210 extends.

Meanwhile, the spring member 212-1 may have a bent structure. In moredetail, the spring member 212-1 may include a first region 212-1 adisposed in the space portion 210 a and having one end portion fixed tothe catching member 212-2, and a second region 212-1 b bent at apredetermined angle with respect to the first region 212-1 a and havingone end portion fixed relative to the finger phalangeal part 210. Inthis case, in the space portion 210 a, a width of a section in which thefirst region 212-1 a and the second region 212-1 b meet together may besmaller than a width of another section. This configuration may preventthe catching member 212-2 from moving to one end portion of the secondregion 212-1 b.

Meanwhile, as described above, the finger phalangeal part 210 mayinclude the first finger phalangeal member 210-1, the second fingerphalangeal member 210-2, the third finger phalangeal member 210-3, andthe finger insertion member 210-4. In this case, the fingerpre-tensioner 212 may be disposed in the finger insertion member 210-4.

An operational principle of the finger pre-tensioner 212 according toembodiments of the present disclosure will be described below.

When the tension applied to the third finger cable 220-3 increases asthe second finger driving part 232 retracts the third finger cable 220-3to perform the extension motion for unfolding the finger phalangeal part210, the catching member 212-2, which interferes with the third fingercable 220-3 with the contact with the third finger cable 220-3, moves inthe direction in which the tension applied to the third finger cable220-3 decreases and the elastic force applied to the spring member 212-1increases. That is, the catching member 212-2 moves to the left based onFIGS. 13 and 14 . When the equilibrium is established between the forcesapplied to the catching member 212-2 by the tension applied to the thirdfinger cable 220-3 and the elastic force applied to the spring member212-1, the catching member 212-2 is stopped.

On the contrary, the tension applied to the third finger cable 220-3decreases when an external force is applied to the finger phalangealpart 210 and forces the finger phalangeal part 210 to perform thebending/stretching motion or when the extension motion is stopped by anexternal force while the finger phalangeal part 210 performs theextension motion. Therefore, the catching member 212-2 moves in thedirection in which the tension applied to the third finger cable 220-3increases and the elastic force applied to the spring member 212-1decreases. That is, the catching member 212-2 moves to the right basedon FIGS. 13 and 14 . When the equilibrium is established between theforces applied to the catching member 212-2 by the tension applied tothe third finger cable 220-3 and the elastic force applied to the springmember 212-1, the catching member 212-2 is stopped.

FIGS. 15 and 16 are perspective views illustrating detailed structuresof the thumb driving part and the finger driving part provided in therobot hand module according to embodiments of the present disclosure,and FIG. 17 is a cross-sectional view illustrating detailed structuresof the thumb driving part and the finger driving part provided in therobot hand module according to embodiments of the present disclosure.

Meanwhile, reference numerals are illustrated in FIGS. 15 to 17 on thebasis of the structure of the finger driving part 230. However, thefollowing description of the structure of the driving part may beequally applied to both the thumb driving part 130 and the fingerdriving part 230.

Referring to FIGS. 15 to 17 , the driving part 230 may include a drivingpart body 233 extending in one direction and including a rotary shaftconfigured to rotate by receiving power, a drum member 234 coupled toone side of the driving part body 233, connected to the rotary shaft,and having an outer periphery surrounded by portions of the first andsecond cables 220 a and 220 b, and a tensioner member 235 spaced apartfrom the drum member 234 in a direction in which the first and secondcables 220 a and 220 b extend outward.

The tensioner member 235 may be configured to adjust tension of theportions of the first and second cables 220 a and 220 b coupled to thedriving part 230. That is, the tension of the cables provided in therobot hand module 10 according to embodiments of the present disclosuremay be adjusted by the tensioner member 235 provided in the driving part230 as well as the thumb pre-tensioner 112 and the finger pre-tensioner212. In more detail, according to embodiments of the present disclosure,the tension of the cable part may be adjusted by the driving part 230before the robot hand module 10 operates properly, and the tension ofthe cable part may be adjusted by the thumb pre-tensioner 112 and thefinger pre-tensioner 212 during the process of operating the robot handmodule 10. FIGS. 15 and 16 illustrate that the cable part includes afirst cable 220 a extended from the driving part 230, and a second cable220 b extended from the driving part 230 and provided separately fromthe first cable 220 a. For example, the first cable 220 a and the secondcable 220 b may be the first finger cable 220-1 (see FIG. 8 ) and thesecond finger cable 220-2 (see FIG. 8 ), respectively.

According to embodiments of the present disclosure, the tensioner member235 may be movable in the direction in which the first and second cables220 a and 220 b extend, and the tension of the first and second cables220 a and 220 b may be adjusted by the movement of the tensioner member235.

In more detail, the driving part 230 may further include a base member236 disposed between the drum member 234 and the tensioner member 235and fixed to the drum member 234, and a rod member 237 configured topenetrate the base member 236 and having one end portion inserted intothe tensioner member 235. In this case, when the rod member 237 rotates,the tensioner member 235 is interlocked with the motion of the rodmember 237 and thus moves away from the base member 236 or moves towardthe base member 236. For example, the rod member 237 and the tensionermember 235 may be coupled to each other by a bolt-nut engagement. Oneend portion of the rod member 237 may be in close contact with the basemember 236 in a state in which one end portion of the rod member 237 isinserted into a groove region concavely recessed in the base member 236.Therefore, when the rod member 237 rotates, the rod member 237 does notmove in a forward/rearward direction, but the tensioner member 235,which is coupled to the rod member 237 by the bolt-nut engagement, maymove in the forward/rearward direction.

Continuing to refer to FIGS. 15 to 17 , the drum member 234 may includegrooves 234 a and 234 b formed in an outer surface of the drum member234 and recessed in the outer surface of the drum member 234, and thefirst and second cables 220 a and 220 b may be respectively insertedinto the grooves 234 a and 234 b.

In more detail, the grooves 234 a and 234 b may include a first groove234 a formed in the outer surface of the drum member 234 and configuredto allow the first cable 220 a to be inserted thereinto, and a secondgroove 234 b formed in the outer surface of the drum member 234 andconfigured to allow the second cable 220 b to be inserted thereinto.According to embodiments of the present disclosure, when the drum member234 is rotated in one direction by the rotation of the driving part body233, the first cable 220 a and the second cable 220 b may be extendedfrom the drum member 234. When the drum member 234 rotates in thereverse direction, the first cable 220 a and the second cable 220 b maybe retracted to the drum member 234.

Continuing to refer to FIGS. 15 to 17 , the tensioner member 235 mayinclude a tensioner body region 235 a configured to define a body of thetensioner member 235, and a protruding region 235 b protruding from thetensioner body region 235 a toward the base member 236. The base member236 may include a guide region 236 a having a shape corresponding to theprotruding region 235 b and configured to provide a space into which theprotruding region 235 b is inserted. According to embodiments of thepresent disclosure, the tensioner member 235 may be repeatedly movedalong a predetermined route in the forward/rearward direction by theinterference between the protruding region 235 b and the guide region236 a.

Meanwhile, the driving part 230 may further include a driving pulley 238disposed at one side of the drum member 234. In this case, the secondcable 220 b may be in contact with an outer surface of the drivingpulley 238, bent in the region in contact with the driving pulley 238,and extend toward the tensioner member 235. In contrast, the first cable220 a may be spaced apart from the driving pulley 238.

The driving pulley 238 may be configured to allow the first cable 220 aand the second cable 220 b to move in opposite directions. That is, asdescribed above, the directions in which the first finger cable and thesecond finger cable are extended or retracted need to be opposite toeach other to implement the bending/stretching motion and the extensionmotion of the finger phalangeal part 210 using the first finger cable220-1 (see FIG. 8 ) and the second finger cable 220-2 (see FIG. 8 ).

According to embodiments of the present disclosure, the second cable 220b surrounds the driving pulley 238, is bent in the region in contactwith the driving pulley 238, and extends toward the tensioner member235. Therefore, when the drum member 234 rotates in one direction, thefirst cable 220 a may be retracted, and the second cable 220 b may beextended. In contrast, when the drum member 234 rotates in the reversedirection, the first cable 220 a may be extended, and the second cable220 b may be retracted. Therefore, according to embodiments of thepresent disclosure, a direction in which the first cable 220 a surroundsthe first groove 234 a of the drum member 234 and then extends towardthe tensioner member 235 may be opposite to a direction in which thesecond cable 220 b surrounds the second groove 234 b of the drum member234 and then extends toward the tensioner member 235.

FIG. 18 is a view illustrating components for adjusting tension of wiresprovided in the finger phalangeal part provided in the robot hand moduleaccording to embodiments of the present disclosure, and FIG. 19 is anenlarged cross-sectional view of part Z in FIG. 18 .

Meanwhile, reference numerals are illustrated in FIGS. 18 and 19 on thebasis of the structure of the finger phalangeal part 210. However, thefollowing description of the structure of the phalangeal part may beequally applied to both the thumb phalangeal part 110 and the fingerphalangeal part 210.

Referring to FIGS. 18 and 19 , the phalangeal part 210 may includeholder members 210 c disposed in the phalangeal part 210 andrespectively fixed to one end portion of the first cable 220 a and oneend portion of the second cable 220 b, rod members 210 d each having oneend portion inserted into each of the holder members 210 c, and elasticmembers 210 e disposed between the holder members 210 c and the rodmembers 210 d and configured to press the holder members 210 c and therod members 210 d. In this case, according to embodiments of the presentdisclosure, the tension of the first and second cables 220 a and 220 bmay be adjusted by the movements of the holder members 210 c. Meanwhile,for example, the first and second cables 220 a and 220 b may be thefirst finger cable 220-1 (see FIG. 8 ) and the second finger cable 220-2(see FIG. 8 ), respectively.

In more detail, the rod member 210 d and the holder member 210 c may becoupled to each other by a bolt-nut engagement, and the rod member 210 dmay be in close contact with an inner surface of the phalangeal part210. Therefore, when the rod members 210 d rotate, positions of theholder members 210 c relative to the rod members 210 d are adjusted inthe state in which the rod members 210 d are fixed to the inner surfaceof the phalangeal part 210, such that the tension of the first andsecond cables 220 a and 220 b may be adjusted. When the rod member 210 drotates, the holder member 210 c may move in the upward/downwarddirection based on FIG. 19 . Meanwhile, since the tension of the firstand second cables 220 a and 220 b is adjusted by adjusting the relativepositions between the rod members 210 d and the holder members 210 c,the elastic members 210 e may not be configured to directly adjust thetension of the first and second cables 220 a and 220 b. However, whentension is not applied to the first cable 220 a and the second cable 220b but a compressive force is applied to the first cable 220 a and thesecond cable 220 b, the elastic members 210 e may press the holdermembers 210 c toward the inside of the phalangeal part 210 to preventthe holder members 210 c and the rod members 210 d from protruding tothe outside.

Continuing to refer to FIGS. 18 and 19 , the phalangeal part 210 mayfurther include guide regions 210 f that provide spaces into which theholder members 210 c are inserted and spaces in which the holder members210 c are moved by the rotation of the rod members 210 d. A width of theguide region 210 f may correspond to a width of the holder member 210 cso that a movement route of the holder member 210 c is constantlyformed.

Meanwhile, the holder member 210 c, the rod member 210 d, the elasticmember 210 e, and the guide region 210 f may each be provided in plural.

In more detail, the holder members 210 c may include a first holdermember 210 c-1 fixed to one end portion of the first cable 220 a, and asecond holder member 210 c-2 fixed to one end portion of the secondcable 220 b. The rod members 210 d may include a first rod member 210d-1 having one end portion inserted into the first holder member 210c-1, and a second rod member 210 d-2 having one end portion insertedinto the second holder member 210 c-2. The elastic members 210 e mayinclude a first elastic member 210 e-1 disposed between the first holdermember 210 c-1 and the first rod member 210 d-1, and a second elasticmember 210 e-2 disposed between the second holder member 210 c-2 and thesecond rod member 210 d-2. In addition, the guide regions 210 f mayinclude a first guide region 210 f-1 configured to provide a space intowhich the first holder member 210 c-1 is inserted, and a second guideregion 210 f-2 configured to provide a space into which the secondholder member 210 c-2 is inserted.

FIG. 20 is a cross-sectional view illustrating a cross-sectionalstructure of the cable provided in the robot hand module according toembodiments of the present disclosure. Meanwhile, the followingdescription of the cable part may be equally applied to the first andsecond thumb cables 120-1 and 120-2, the first to fourth finger cables220-1, 220-2, 220-3, and 220-4, and the first and second cables 220 aand 220 b.

According to embodiments of the present disclosure, the cable part 220may have a layered structure. In more detail, the cable part 220 mayinclude a wire region 220 c disposed in a central region of the cablepart 220, a first sheath region 220 d configured to surround an outerportion of the wire region 220 c and spaced apart from the wire region220 c, and a second sheath region 220 e configured to surround an outerportion of the first sheath region 220 d. A portion between the wireregion 220 c and the first sheath region 220 d may be filled with alubricating material.

Meanwhile, the first sheath region 220 d and the second sheath region220 e may be disposed in a region of the cable part 220 which is exposedto the outside. The first sheath region 220 d and the second sheathregion 220 e may not be disposed but only the wire region 220 c may bedisposed in a region of the cable part 220 which is disposed in thephalangeal part 210 or the driving part 230. The first and second sheathregions 220 d and 220 e may be configured to protect the wire region 220c. The bending/stretching motion and the extension motion of the thumbmodule and the finger module may be implemented by the wire region 220c.

Meanwhile, for example, referring to FIGS. 15 to 17 , the cable part 220may be inserted and fitted into the tensioner body region 235 a of thetensioner member 235. Therefore, the first and second sheath regions 220d and 220 e of the cable part 220 may be fixed to the tensioner bodyregion 235 a.

As illustrated in FIG. 16 , when the rod member 237 rotates and thetensioner member 235 moves away from the base member 236 in this state,the first and second sheath regions 220 d and 220 e are compressed.Therefore, the first and second sheath regions 220 d and 220 e applyforces forward to components (e.g., the phalangeal part and the like)disposed in front of the first and second sheath regions 220 d and 220e, such that the components disposed in front of the first and secondsheath regions 220 d and 220 e are finely compressed. Meanwhile, sincethe wire region 220 c is connected to the components (e.g., thephalangeal part) disposed in front of the first and second sheathregions 220 d and 220 e, the tension applied to the wire region 220 cincreases to the extent that the components disposed in front of thefirst and second sheath regions 220 d and 220 e are compressed.Therefore, the driving pall 230 may increase the tension of the cablepart 220, i.e., the wire region 220 c. The tension of the wire region220 c may be decreased by decreasing an interval between the tensionermember 235 and the base member 236.

The present disclosure has been described with reference to theexemplary embodiments and the drawings, but the present disclosure isnot limited thereto. The present disclosure may be carried out invarious forms by those skilled in the art to which the presentdisclosure pertains within the technical spirit of the presentdisclosure and within the scope equivalent to the appended claims.

What is claimed is:
 1. A robot hand module comprising: a palm part; anda finger module coupled to the palm part, wherein the finger modulecomprises: a finger phalangeal part movably coupled to the palm part; afinger cable part having a first side connected to the finger phalangealpart; and a finger driving part connected to a second side of the fingercable part and configured to operate the finger phalangeal part byextending the finger cable part to the outside or retracting the fingercable part; wherein the finger phalangeal part comprises: finger linkparts comprising a plurality of link members; and a finger link drivingpart configured to transmit power to the finger link parts in arectilinear direction; and wherein when the finger link parts receivethe power from the finger link driving part in the rectilineardirection, some of the plurality of link members are configured torotate relative to remaining ones of the plurality of link members, suchthat the finger phalangeal part is configured to rotate relative to thepalm part.
 2. The robot hand module of claim 1, wherein the finger linkparts comprise: a first link part having a first side connected to thefinger link driving part and configured to move by receiving the powerfrom the finger link driving part; a second link part having a firstside coupled to the first link part and provided to be rectilinearlymovable; a third link part having a first side rotatably coupled to thesecond link part; and a fourth link part having a first side rotatablycoupled to the third link part, wherein the finger phalangeal part isconfigured to be rotated relative to the palm part by a rotationalmotion of the fourth link part.
 3. The robot hand module of claim 2,wherein the first link part comprises a screw member connected to thefinger link driving part.
 4. The robot hand module of claim 3, whereinthe second link part further comprises: a nut member disposed on anupper portion of the screw member and coupled to the screw member by abolt-nut engagement; and a sliding member configured to be in closecontact with an upper portion of the nut member, wherein the nut memberand the sliding member are configured to move in an upward/downwarddirection as the screw member is rotated by the finger link drivingpart.
 5. The robot hand module of claim 4, wherein the third link partcomprises a rod member rotatably coupled to a first side of the slidingmember.
 6. The robot hand module of claim 5, wherein the fourth linkpart comprises a cylindrical member rotatably coupled to a first side ofthe rod member and provided to be rotatable about a rotary shaft.
 7. Arobot hand module comprising: a palm part; and a finger module coupledto the palm part, wherein the finger module comprises: a fingerphalangeal part movably coupled to the palm part; a finger cable parthaving a first side connected to the finger phalangeal part; and afinger driving part connected to a second side of the finger cable partand configured to operate the finger phalangeal part by extending thefinger cable part to the outside or retracting the finger cable part,wherein the finger driving part comprises a first finger driving part;wherein the finger phalangeal part comprises: finger link partscomprising a plurality of link members; and a finger link driving partconfigured to transmit power to the finger link parts in a rectilineardirection; wherein when the finger link parts receive the power from thefinger link driving part in the rectilinear direction, some of theplurality of link members are configured to rotate relative to remainingones of the plurality of link members, such that the finger phalangealpart is configured to rotate relative to the palm part; wherein thefinger link parts comprise: a first link part having a first sideconnected to the finger link driving part and configured to move byreceiving the power from the finger link driving part; a second linkpart having a first side coupled to the first link part and provided tobe rectilinearly movable; a third link part having a first siderotatably coupled to the second link part; and a fourth link part havinga first side rotatably coupled to the third link part, wherein thefinger phalangeal part is configured to be rotated relative to the palmpart by a rotational motion of the fourth link part; and wherein thefinger cable part comprises: a first finger cable extended from thefirst finger driving part, having a first side in contact with a firstsurface of the fourth link part, and having a second side fixed in thefinger phalangeal part; and a second finger cable extended from thefirst finger driving part, having a first side in contact with a secondsurface of the fourth link part, and having a second side fixed in thefinger phalangeal part.
 8. The robot hand module of claim 7, wherein ina region in which the first finger cable and the second finger cableface the fourth link part, the first finger cable and the second fingercable are positioned in a width of the fourth link part at any rotationangle of the fourth link part, and the first finger cable and the secondfinger cable are configured to slide relative to the fourth link part.9. The robot hand module of claim 7, wherein the finger phalangeal partcomprises: a first finger phalangeal member having a first siderotatably coupled to the fourth link part; a second finger phalangealmember having a first side rotatably coupled to the first fingerphalangeal member; a third finger phalangeal member having a first siderotatably coupled to the second finger phalangeal member; and a fingerinsertion member having a first side coupled to the first fingerphalangeal member and a second side inserted and coupled into the palmpart.
 10. The robot hand module of claim 9, wherein the finger drivingpart further comprises a second finger driving part, and the fingercable part further comprises a third finger cable extended from thesecond finger driving part and having a first side fixed to the thirdfinger phalangeal member.
 11. The robot hand module of claim 10, whereinthe finger phalangeal part comprises: first finger pulleys disposed inthe first finger phalangeal member; and a second finger pulley disposedin the second finger phalangeal member; wherein the first finger pulleyscomprise: a first-1 finger pulley; and a first-2 finger pulley disposedbetween the first-1 finger pulley and the second finger pulley in adirection in which the third finger cable extends; and wherein the thirdfinger cable is fixed at the first side of the third finger phalangealmember in a state in which the third finger cable is in contact with thefirst-1 finger pulley, the first-2 finger pulley, and the second fingerpulley.
 12. The robot hand module of claim ii, wherein when the fingerphalangeal part is cut in a direction in which the first to third fingerphalangeal members are disposed, the third finger cable is bentclockwise based on a region in contact with the first-1 finger pulleyand then extends toward the first-2 finger pulley, the third fingercable is bent counterclockwise based on a region in contact with thefirst-2 finger pulley and then extends toward the second finger pulley,and the third finger cable is bent clockwise based on a region incontact with the second finger pulley and then extends toward the thirdfinger phalangeal member.
 13. The robot hand module of claim 12, whereinthe finger phalangeal part comprises: a first finger joint regiondisposed in a region in which the first finger phalangeal member and thesecond finger phalangeal member are coupled to each other and in whichthe first finger phalangeal member and the second finger phalangealmember are provided to be rotatable relative to each other; and a secondfinger joint region disposed in a region in which the second fingerphalangeal member and the third finger phalangeal member are coupled toeach other and in which the second finger phalangeal member and thethird finger phalangeal member are provided to be rotatable relative toeach other; and wherein the third finger cable is in contact with thefirst finger joint region or the second finger joint region.
 14. Therobot hand module of claim 13, wherein when the finger phalangeal partis cut in the direction in which the first to third finger phalangealmembers are disposed, the third finger cable is bent counterclockwisebased on a region in contact with the first finger joint region and thenextends toward the second finger pulley.
 15. The robot hand module ofclaim 13, wherein when the finger phalangeal part is cut in thedirection in which the first to third finger phalangeal members aredisposed, the third finger cable is bent counterclockwise based on aregion in contact with the second finger joint region and then extendstoward the third finger phalangeal member.
 16. The robot hand module ofclaim 13, wherein: the finger cable part further comprises a fourthfinger cable having a first end portion fixed in the first fingerphalangeal member and a second opposite end portion fixed in the thirdfinger phalangeal member; and the fourth finger cable is in contact withthe first finger joint region or the second finger joint region.
 17. Therobot hand module of claim 16, wherein when the finger phalangeal partis cut in the direction in which the first to third finger phalangealmembers are disposed, the fourth finger cable is bent clockwise based ona region in contact with the first finger joint region and then extendstoward the second finger joint region.
 18. The robot hand module ofclaim 16, wherein when the finger phalangeal part is cut in thedirection in which the first to third finger phalangeal members aredisposed, the fourth finger cable is bent counterclockwise based on aregion in contact with the second finger joint region and then fixed inthe third finger phalangeal member.
 19. The robot hand module of claim16, wherein the fourth finger cable is spaced apart from the firstfinger pulleys and the second finger pulley.
 20. The robot hand moduleof claim 9, wherein the finger phalangeal part further comprises afinger elastic member having a first end portion fixed in the secondfinger phalangeal member and a second opposite end portion fixed in thethird finger phalangeal member and configured to provide a rotationalrestoring force when the third finger phalangeal member rotates relativeto the second finger phalangeal member.